camera-back-warn-flip+rotate

src/camera_back_warn/configs/CameraBackParam.yaml

 # /sensor/back_middle/image/bgr
-back_rgb_sub_topic_name: /sensor/camera/rgb/data
+back_rgb_sub_topic_name: /front_rgb/image
 berm_signal_sub_topic_name: /berm/signal
 #  Publisher
 vis_pub_topic_name: /perception/back/vis_image
@@ -8,6 +8,8 @@ vis_pub_topic_name: /perception/back/vis_image
 config_root_path: /home/ubuntu/projects/ros_camera_bev/src/camera_back_warn
 rgb_config_path: configs/weights/rgb_yolov5.yaml
 device: 0
+flip: false
+rotate: -1 # -1=0, 0=90, 1=180, 2=270
 range_ratio: 0.01
 
 # // visualization 是否可视化结果

src/camera_back_warn/src/sensor_manager.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 02:18:07
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-14 10:14:39
+ * @LastEditTime: 2023-12-25 07:50:18
  */
 
 
@@ -86,6 +86,14 @@ void sensorManager::infer()
             continue;
         }
 
+        // 旋转+flip
+        if(infer_param.flip){
+            cv::flip(rgb, rgb, 0);
+        }
+        if(infer_param.rotate >= 0){
+            cv::rotate(rgb, rgb, infer_param.rotate);
+        }
+
         // 定义模型的输入输出vector
         std::vector<cv::Mat*> inputs;
         std::vector<waytous::deepinfer::interfaces::BaseIOPtr> outputs;
@@ -111,7 +119,7 @@ void sensorManager::infer()
                 if((det->x2 - det->x1) / rgb.cols > infer_param.range_ratio || 
                    (det->y2 - det->y1) / rgb.rows > infer_param.range_ratio){
                     // TODO
-                    eon::log::warn(1000) << "Warning! Pedestrain existed in back.";
+                    eon::log::error(0x05400000) << "Warning! Pedestrain existed in back.";
                     std::cout << "Warning! Pedestrain existed in back." << std::endl;
                     break;
                 }

src/camera_back_warn/src/sensor_manager.h

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 01:53:20
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-14 10:13:19
+ * @LastEditTime: 2023-12-19 03:05:34
  */
 
 #ifndef SENSORMANAGER_H
@@ -91,7 +91,7 @@ public:
     };
 
     /**
-     * @name: updatePointcloud
+     * @name: updateBermSignal
      * @msg: 更新挡墙检测信号
      * @param std_msgs::StringConstPtr berm_data
      * @return {*}

src/camera_back_warn/src/utils.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-07-25 06:16:52
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-14 09:02:45
+ * @LastEditTime: 2023-12-25 07:52:07
  */
 
 
@@ -32,6 +32,9 @@ bool readInferParam(ImageInferNodeParam& param,  const std::string& param_path){
     param.rgb_config_path = node["rgb_config_path"].as<std::string>();
     param.device = node["device"].as<int>();
 
+    param.flip = node["flip"].as<bool>();
+    param.rotate = node["rotate"].as<int>();
+
     param.range_ratio = node["range_ratio"].as<float>();
 
     param.vis_res = node["vis_res"].as<bool>();

src/camera_back_warn/src/utils.h

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 03:14:28
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-14 09:01:47
+ * @LastEditTime: 2023-12-25 07:46:10
  */
 
 #ifndef UTILS_H_
@@ -35,6 +35,9 @@ struct ImageInferNodeParam{
     std::string rgb_config_path;
     int device = 0;
 
+    bool flip = false;
+    int rotate = 0; // 0°
+
     float range_ratio = 0.01; // 检测到的行人长或者宽，大于此比例时，进行警告
 
     // visualization 是否可视化结果

src/camera_bev_infer/configs/weights/multi_yolov5m.yaml

@@ -44,7 +44,7 @@ units:
         fixAspectRatio: false
         # instance-seg
         nmsThreshold: 0.45
-        scoreThreshold: 0.1 # used when inference, can be modified
+        scoreThreshold: 0.15 # used when inference, can be modified
         truncatedThreshold: 0.05
         maxOutputNum: 1000
         rawDetectionLength: 32130 # 25200

src/camera_bev_infer/src/sensor_manager.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 02:18:07
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-06 03:43:35
+ * @LastEditTime: 2024-01-18 04:29:42
  */
 
 
@@ -169,6 +169,7 @@ void sensorManager::publishDetection()
             // vision_converter_->Process_objects(frame_ptr->img_src_, pcl_cloud, frame_ptr->objs_, *vGrid);
             vision_converter_->Process_objects(frame_ptr->img_src_, frame_ptr->depth_, pcl_cloud, frame_ptr->objs_, *vGrid);
         }else{
+            std::cout<<"--------------------------------------------- no pcl, using all depth -------------------------------------------- "<<std::endl;
             vision_converter_->Process_objects(frame_ptr->img_src_, frame_ptr->depth_, frame_ptr->objs_, *vGrid);
         }
 

src/camera_bev_infer/src/vision_transform/vision_3d.cpp

@@ -5,7 +5,7 @@
  * @Date: 2023-09-03 03:13:41
  * @email: xin.wang@waytous.com
  * @LastEditors: wxin
- * @LastEditTime: 2023-12-13 07:25:53
+ * @LastEditTime: 2024-01-18 04:25:22
  */
 
 
@@ -963,8 +963,8 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
     }
     // std::cout<<" instance find table vision "<<double(clock()-start_)/CLOCKS_PER_SEC<<"s"<<std::endl;  //输出时间（单位：ｓ）
     float project_ratio = project_count / (mask_count + 1e-5);
-    std::cout<<"obj: "<< obj.name <<"with project ratio: "<< project_ratio << std::endl;
     bool valid = validTracks.find(obj.track_id) != validTracks.end();
+    // std::cout<<"obj: "<< obj.name <<" with project ratio: "<< project_ratio << ", " << valid << std::endl;
     if(valid){
         validTracks[obj.track_id] = 0; // update
     }
@@ -1022,10 +1022,10 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
                         min_z = p3d_.z;
                     }
                 }
-                std::cout << "stone with "<<points3d.size() << " points, height diff: " << max_z - min_z << "m." << std::endl;
                 filtered = (max_z - min_z < obstacle_height_threshold * 0.01);
                 if(!filtered){
                     validTracks[obj.track_id] = 0; // init
+                    std::cout << "------------------------ "<< obj.track_id <<" stone with "<<points3d.size() << " points, height diff: " << max_z - min_z << "m." << std::endl;
                 }
                 /*else{// 扬尘遮挡，点少
                     if(unvalidTracks.find(obj.track_id) != unvalidTracks.end()){
@@ -1056,11 +1056,11 @@ int Visione_3D::Process_Instance_Objects(object_Seg_info& obj, const cv::Mat& in
             if(unvalidTracks.find(obj.track_id) != unvalidTracks.end()){
                 unvalidTracks[obj.track_id].second++;
                 // 长时间跟踪上，但是未被激活，用深度估计激活
-                if(unvalidTracks[obj.track_id].second >= 10){
-                    unvalidTracks.erase(obj.track_id);
-                    validTracks[obj.track_id] = 0; // init
-                    return -1; // using depth estimination
-                }
+                // if(unvalidTracks[obj.track_id].second >= 10){
+                //     unvalidTracks.erase(obj.track_id);
+                //     validTracks[obj.track_id] = 0; // init
+                //     return -1; // using depth estimination
+                // }
             }else{
                 unvalidTracks[obj.track_id] = std::make_pair(0, 0);
             }